stepmotor: changed name from step_motor to stepmotor

Signed-off-by: Kiveisha Yevgeniy <yevgeniy.kiveisha@intel.com>

src/stepmotor/stepmotor.cxx

@@ -0,0 +1,127 @@
+/*
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
+ * Copyright (c) 2014 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <iostream>
+#include <unistd.h>
+#include <stdlib.h>
+
+#include "stepmotor.h"
+
+using namespace upm;
+
+StepMotor::StepMotor (int dirPin, int stePin) {
+    maa_result_t error = MAA_SUCCESS;
+    m_name = "StepMotor";
+
+    maa_init();
+
+    m_stePin = stePin;
+    m_dirPin = dirPin;
+
+    m_pwmStepContext = maa_pwm_init (m_stePin);
+    m_dirPinCtx = maa_gpio_init (m_dirPin);
+    if (m_dirPinCtx == NULL) {
+        fprintf (stderr, "Are you sure that pin%d you requested is valid on your platform?", m_dirPin);
+        exit (1);
+    }
+
+    error = maa_gpio_dir (m_dirPinCtx, MAA_GPIO_OUT);
+    if (error != MAA_SUCCESS) {
+        maa_result_print (error);
+    }
+}
+
+StepMotor::~StepMotor() {
+    maa_result_t error = MAA_SUCCESS;
+
+    maa_pwm_close (m_pwmStepContext);
+
+    error = maa_gpio_close (m_dirPinCtx);
+    if (error != MAA_SUCCESS) {
+        maa_result_print(error);
+    }
+}
+
+void
+StepMotor::setSpeed (int speed) {
+    if (speed > MAX_PERIOD) {
+        m_speed = MAX_PERIOD;
+    }
+
+    if (speed < MIN_PERIOD) {
+        m_speed = MIN_PERIOD;
+    }
+
+    m_speed = speed;
+}
+
+maa_result_t
+StepMotor::stepForward (int ticks) {
+    dirForward ();
+    move (ticks);
+}
+
+maa_result_t
+StepMotor::stepBackwards (int ticks) {
+    dirBackwards ();
+    move (ticks);
+}
+
+maa_result_t
+StepMotor::move (int ticks) {
+    maa_result_t error = MAA_SUCCESS;
+
+    maa_pwm_enable (m_pwmStepContext, 1);
+    for (int tick = 0; tick < ticks; tick++) {
+        maa_pwm_period_us (m_pwmStepContext, m_speed);
+        maa_pwm_pulsewidth_us (m_pwmStepContext, PULSEWIDTH);
+    }
+    maa_pwm_enable (m_pwmStepContext, 0);
+
+    return error;
+}
+
+maa_result_t
+StepMotor::dirForward () {
+    maa_result_t error = MAA_SUCCESS;
+
+    error = maa_gpio_write (m_dirPinCtx, HIGH);
+    if (error != MAA_SUCCESS) {
+        maa_result_print (error);
+    }
+
+    return error;
+}
+
+maa_result_t
+StepMotor::dirBackwards () {
+    maa_result_t error = MAA_SUCCESS;
+
+    error = maa_gpio_write (m_dirPinCtx, LOW);
+    if (error != MAA_SUCCESS) {
+        maa_result_print (error);
+    }
+
+    return error;
+}